freebuoyancy_gazebo

A Gazebo plugin to simulate underwater vehicles.

Gazebo plugin

The package builds two Gazebo plugins:

• freebuoyancy_gazebo (model plugin) simulates buoyancy and viscous force from water

Install

git clone https://github.com/bluerobotics/freebuoyancy_gazebo
cd freebuoyancy_gazebo
mkdir build
cd build
cmake ..
make
sudo make install

Test it

source gazebo.sh
gazebo worlds/freebuoyancy_demo.world -u

Troubleshooting

If you are running gazebo7, probably you'll find a bug in the GAZEBO_PLUGIN_PATH env variable. To solve that issue, it's necessary to move all plugins to the correct path.

sudo cp -a /usr/lib/x86_64-linux-gnu/gazebo-7.0/plugins/ /usr/lib/x86_64-linux-gnu/gazebo-7/

References

This plugin is based on the original repository of freefloating_gazebo, this is only a rework to use without ROS.